🔲 Set up the options of the fork repository

• Create a ruleset that:
  • Targets all branches.
  • Restricts updates.
  • Restricts deletions.
  • Blocks force pushes.
• Disable the option Automatically delete head branches.

🔲 Clone the fork locally

• Clone the mesh-iit fork:

  git remote add icub-tech https://github.com/mesh-iit/robots-configuration.git
  

• Switch to the branch corresponding to the robot (e.g., devel-ergoCubSN???).

🔲 Set the default committer

• In order to push to the icub-tech fork without password, it is necessary to get a PAT from the maintainer. Then, issue the following commands:

  git config --local user.name "mesh-iit-bot"
  git config --local user.email "MESH@iit.it"
  PAT=<insert the PAT here>
  git remote set-url icub-tech https://x-access-token:${PAT}@github.com/mesh-iit/robots-configuration.git
  

  ⚠️ Note the use of the option --local to avoid impacting Git globally on the system.
• The PAT is set to have no expiration. However, it can be revoked at any time by the maintainer.

🔲 Ensure that the author information is specified explicitly at commit time

• We do rely on Git hoooks.
• Run the following command from the robots-configuration root folder:

  git config --local core.hooksPath .githooks/
  

🔘 Use an external robots-configuration separately from robotology-superbuild

In some ergoCubSN??? setups, the robots-configuration used by the robot is not the one downloaded by the robotology-superbuild (that would be found at /usr/local/src/robot/robotology-superbuild/src/robots-configuration), but rather a separate robots-configuration available at /usr/local/src/robot/robots-configuration. This is done for two reasons:

• To permit to clone a fresh new robotology-superbuild, without the need to manually perform the local repository configuration as described in the previous section,
• To permit to easily share the used robots-configuration to other robotology-superbuild, that for example are part of a different environment or a different container.

The steps necessary to switch to use an external robots-configuration given an existing robotology-superbuild setup are the following:

🔲 Disable robots-configuration from the superbuild

First of all, pass the -ROBOTOLOGY_SKIP_ROBOTS_CONFIGURATION:BOOL=ON CMake option to all the robotology-superbuild that should use the external robots-configuration.

If the robotology-superbuild was already built once, remember to first uninstall and then delete the existing robots-configuration repository to avoid confusion.

In particular uninstall with:

cd /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration
make uninstall

and delete any robots-configuration folder with:

cd /usr/local/src/robot/robotology-superbuild
rm -rf /usr/local/src/robot/robotology-superbuild/src/robots-configuration
rm -rf /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration

🔲 Clone, install and ensure that external robots-configuration is visible

cd /usr/local/src/robot
git clone  https://github.com/robots-configuration/robots-configuration.git
cd robots-configuration

At this point, follow the configuration steps documented in the earlier section. Then, install the repo without dependencies, using the nodeps CMake preset:

cmake --preset nodeps
cmake --install build

After you did all this, to ensure that the installed files are found by YARP, add the following line to the .bashrc of the robot:

export YARP_DATA_DIRS=$YARP_DATA_DIRS:/usr/local/src/robot/robots-configuration/build/install/share/ICUBcontrib